Figure 1.

Group control system diagram: (a) The scheme of the GCS. G denotes the goals that are assigned to the group, Cr is the information received from other nodes, CS_i is the control system of robot R_i, E is the environment in which the goals are performed; (b) The mobile robotic control system. C_R is the set of connections of the given robot with other robots of the group, x_d is the vector of the coordinates of the next point of the robots trajectory, and x_g denotes the coordinates of the chosen goal.